# Generated by a fuckwit (named joe), don't trust this

loadrt [KINS]KINEMATICS
#autoconverted  trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadrt corexy_by_hal names=corexy

loadusr -W lcec_conf ethercat-conf.xml
loadusr linuxcncrsh
loadrt lcec
loadrt cia402 count=3
loadrt pid names=0-pid,1-pid

addf lcec.read-all            servo-thread
addf cia402.0.read-all        servo-thread
addf cia402.1.read-all        servo-thread
addf cia402.2.read-all        servo-thread
addf corexy		      servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf 0-pid.do-pid-calcs servo-thread
addf 1-pid.do-pid-calcs servo-thread
addf cia402.0.write-all       servo-thread
addf cia402.1.write-all       servo-thread
addf cia402.2.write-all       servo-thread
addf lcec.write-all           servo-thread

# --- ect60 settings
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 133.33

#net input-test <= lcec.0.2.input-test

#  AXIS X
# --- joint signals for motion and driver to joint
net j0motor-cmd		<= joint.0.motor-pos-cmd                => corexy.j0-motor-pos-cmd
net alpha-cmd           <= corexy.alpha-cmd                     => cia402.0.pos-cmd
net alpha-fb            <= cia402.0.pos-fb                      => corexy.alpha-fb
net j0motor-fb          <= corexy.j0-motor-pos-fb               => joint.0.motor-pos-fb
net j0enable            <= joint.0.amp-enable-out               => cia402.0.enable
net x-home          <=  lcec.0.2.x-min              => joint.0.home-sw-in

# --- from stepper(ethercat) to cia402
net x-statusword      lcec.0.0.cia-statusword  => cia402.0.statusword
net x-opmode-display  lcec.0.0.opmode-display  => cia402.0.opmode-display
net x-drv-act-pos     lcec.0.0.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo    lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity

# --- from cia402 to stepper(ethercat)
net x-controlword         cia402.0.controlword         => lcec.0.0.cia-controlword
net x-modes-of-operation  cia402.0.opmode              => lcec.0.0.opmode
net x-drv-target-pos      cia402.0.drv-target-position => lcec.0.0.target-position
net x-drv-target-velo     cia402.0.drv-target-velocity => lcec.0.0.target-velocity


#*******************
#  AXIS Y
#*******************

net j1motor-cmd		<= joint.1.motor-pos-cmd   => corexy.j1-motor-pos-cmd
net beta-cmd            <= corexy.beta-cmd         => cia402.1.pos-cmd
net beta-fb             <= cia402.1.pos-fb         => corexy.beta-fb
net j1motor-fb          <= corexy.j1-motor-pos-fb  => joint.1.motor-pos-fb
net j1enable            <= joint.1.amp-enable-out  => cia402.1.enable
net y-home              <=  lcec.0.2.y-min         => joint.1.home-sw-in

# --- ect60 settings

setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 133.33

# --- from servo(ethercat) to cia402

net y-statusword      lcec.0.1.cia-statusword  => cia402.1.statusword
net y-opmode-display  lcec.0.1.opmode-display  => cia402.1.opmode-display
net y-drv-act-pos     lcec.0.1.actual-position => cia402.1.drv-actual-position
net y-drv-act-velo    lcec.0.1.actual-velocity => cia402.1.drv-actual-velocity

# --- from cia402 to servo(ethercat)

net y-controlword         cia402.1.controlword         => lcec.0.1.cia-controlword
net y-modes-of-operation  cia402.1.opmode              => lcec.0.1.opmode
net y-drv-target-pos      cia402.1.drv-target-position => lcec.0.1.target-position
net y-drv-target-velo     cia402.1.drv-target-velocity => lcec.0.1.target-velocity

#setp cia402.2.opmode-no-mode 1
setp cia402.2.pos-scale 250


#from servo(ethercat) to cia402
net z-statusword      lcec.0.2.cia-statusword => cia402.2.statusword
net z-opmode-display  lcec.0.2.opmode-display => cia402.2.opmode-display
net z-drv-act-pos     lcec.0.2.actual-position => cia402.2.drv-actual-position
net z-drv-act-velo    lcec.0.2.actual-velocity => cia402.2.drv-actual-velocity

#from motion to cia

net z-enable     <= joint.2.amp-enable-out => cia402.2.enable
net z-amp-fault  => joint.2.amp-fault-in   <= cia402.2.drv-fault
net z-pos-cmd    <= joint.2.motor-pos-cmd  => cia402.2.pos-cmd
net z-pos-fb     => joint.2.motor-pos-fb   <= cia402.2.pos-fb
net z-home       <=  lcec.0.2.z-min  => joint.2.home-sw-in

#from cia402 to servo(ethercat)
net z-controlword         cia402.2.controlword => lcec.0.2.cia-controlword
net z-modes-of-operation  cia402.2.opmode => lcec.0.2.opmode
net z-drv-target-pos      cia402.2.drv-target-position => lcec.0.2.target-position
net z-drv-target-velo     cia402.2.drv-target-velocity => lcec.0.2.target-velocity



net estoploop iocontrol.0.emc-enable-in => iocontrol.0.user-enable-out
net spindle-on spindle.0.on => lcec.0.2.out-1-en => lcec.0.2.out-1